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Note 11 - Revenue and Business Segments (Details Textual)
3 Months Ended 9 Months Ended
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Dec. 31, 2020
USD ($)
Number of Operating Segments     5    
Number of Reportable Segments     4    
Customer Contract Term (Year)     1 year    
Capitalized Contract Cost, Impairment Loss     $ 0 $ 0  
Prepaid Expenses and Other Current Assets [Member]          
Contract with Customer, Asset, after Allowance for Credit Loss, Total $ 2,600,000   2,600,000   $ 1,500,000
Dedicated [Member]          
Depreciation, Depletion and Amortization, Total 10,600,000 $ 10,500,000 $ 32,000,000.0 30,700,000  
Dedicated [Member] | Minimum [Member]          
Customer Contract Term (Year)     3 years    
Dedicated [Member] | Maximum [Member]          
Customer Contract Term (Year)     5 years    
Truckload [Member]          
Depreciation, Depletion and Amortization, Total 12,900,000 13,400,000 $ 39,000,000.0 41,300,000  
Intermodal [Member]          
Depreciation, Depletion and Amortization, Total 1,600,000 1,400,000 4,700,000 4,100,000  
Brokerage [Member]          
Depreciation, Depletion and Amortization, Total $ 260,000 $ 271,000 $ 840,000 $ 939,000